/***************************************************************************
 *  include/seabee3_demo/simple_movement_demo_node.h
 *  --------------------
 *
 *  Copyright (c) 2011, Edward T. Kaszubski ( ekaszubski@gmail.com )
 *  All rights reserved.
 *
 *  Redistribution and use in source and binary forms, with or without
 *  modification, are permitted provided that the following conditions are
 *  met:
 *
 *  * Redistributions of source code must retain the above copyright
 *    notice, this list of conditions and the following disclaimer.
 *  * Redistributions in binary form must reproduce the above
 *    copyright notice, this list of conditions and the following disclaimer
 *    in the documentation and/or other materials provided with the
 *    distribution.
 *  * Neither the name of seabee3-ros-pkg nor the names of its
 *    contributors may be used to endorse or promote products derived from
 *    this software without specific prior written permission.
 *
 *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
 *  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
 *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR
 *  A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT
 *  OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
 *  SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
 *  LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE,
 *  DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY
 *  THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
 *  (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
 *  OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 *
 **************************************************************************/

#ifndef SEABEE3DEMO_SIMPLEMOVEMENTDEMONODE_H_
#define SEABEE3DEMO_SIMPLEMOVEMENTDEMONODE_H_

#include <quickdev/node.h>

// policies
#include <seabee3_common/seabee_movement_policy.h>

typedef SeabeeMovementPolicy _SeabeeMovementPolicy;

QUICKDEV_DECLARE_NODE( SimpleMovementDemo, _SeabeeMovementPolicy )

QUICKDEV_DECLARE_NODE_CLASS( SimpleMovementDemo )
{
    QUICKDEV_DECLARE_NODE_CONSTRUCTOR( SimpleMovementDemo )
    {
        initPolicies<QUICKDEV_GET_RUNABLE_POLICY()>();
    }

    QUICKDEV_SPIN_FIRST()
    {
        initPolicies<quickdev::policy::ALL>();
    }

    QUICKDEV_SPIN_ONCE()
    {
        // dive one meter
        {
            auto token = moveTo( Position( 0, 0, -1 ) );
            token.wait();
        }

        // move one meter above "pipe1"
        {
            auto token = moveTo( getPose( "pipe1" ) + Position( 0, 0, 1 ) );
            token.wait();
        }

        // move one meter in front of "buoy1"
        {
            auto token = moveTo( getPose( "buoy1" ) + Position( 1, 0, 0 ) + Orientation( 180 ) );
            token.wait();
        }

/*
        // rotate 90 degrees ccw
        {
            auto token = faceTo( Orientation( 90 ) );
            token.wait();
        }
*/
    }
};

#endif // SEABEE3DEMO_SIMPLEMOVEMENTDEMONODE_H_
